KR101812027B1 - Method and system for estimating location of a plurality of underwater robot connercted by cable - Google Patents
Method and system for estimating location of a plurality of underwater robot connercted by cable Download PDFInfo
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- KR101812027B1 KR101812027B1 KR1020150185487A KR20150185487A KR101812027B1 KR 101812027 B1 KR101812027 B1 KR 101812027B1 KR 1020150185487 A KR1020150185487 A KR 1020150185487A KR 20150185487 A KR20150185487 A KR 20150185487A KR 101812027 B1 KR101812027 B1 KR 101812027B1
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- cable
- target object
- image
- length
- estimating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2201/00—Signalling devices
- B63B2201/18—Sonar
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A method for estimating the position of an underwater robot operating in water is provided. A method for estimating the position of an underwater robot includes a first body positioned in water or a water surface and a second body movable in a state of being connected to the first body by a cable, Adjusting a length of the cable so that the second body can be close to the target object, setting a search area to grasp the position of the second body in consideration of the length of the cable, The method comprising the steps of: selecting an object larger than the size of the second body in the second body, determining a second body among the selected objects in comparison with movement of the second body, and estimating the position of the second body.
Description
The present invention relates to a method and system for estimating the position of a plurality of underwater robots connected by cables.
In recent years, as interest in the oceans has increased, activities such as marine exploration have been increasing. As these activities are increasing, many kinds of detectors such as underwater robots which are mainly used for underwater exploration are being developed.
It is important to understand the current location of underwater robots. Since it is not possible to use radio waves in an underwater environment, navigation devices such as GPS can not be used to determine the current position.
Also, in the case of a mission that is difficult to solve by using one underwater robot in water, there are cases where a plurality of underwater robots can be solved through mutual cooperation among underwater robots.
However, since the inertia moment and the dead zone of the propeller thrust are different according to the sizes of a plurality of underwater robots, it is difficult to estimate the positions and attitudes of a plurality of underwater robots due to different working radius and control accuracy.
An embodiment of the present invention is to provide a position estimation method and system for real-time estimation of a three-dimensional position and an attitude of an underwater robot when performing an object survey in water.
According to an aspect of the present invention, there is provided a method for estimating a relative position between a first body positioned on water or a water surface and a second body movable to a target body while being connected to a cable by the first body, Aligning the second body; Adjusting a length of the cable so that the second body is close to a target object; Setting a search area to determine a position of the second body in consideration of the length of the cable; Changing pixels of the image in the set search area that are lighter than the predetermined threshold value to white, and binarizing all pixels darker than a predetermined threshold value to black; Selecting regions larger than a predetermined size in the binarized image as objects; Determining the second body among the selected objects by comparing the velocity of the second body with the velocity of the second body, and estimating a position of the second body that is grasped, wherein the first body and the second body Wherein the step of aligning the first body includes moving the first body to the target body, measuring a distance from the point where the first body moves through the imaging sonar coupled to one side of the first body to the target body And aligning headings of the first body and the second body so as to match the yaw values.
At this time, in the step of adjusting the length of the cable so that the second body approaches the target object, the cable can be released or rolled through the winch installed in the first body.
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In this case, the step of adjusting the length of the cable so that the second body is close to the target object may further include a step of making the cable between the first body and the second body to be taut.
The step of tightening the cable between the first body and the second body may further include confirming whether the cable is tight through the tension sensor installed on the cable end.
At this time, in setting the search area to grasp the position of the second body in consideration of the length r of the cable, the distance L of the search area of the second body considering the length r of the cable ) May satisfy r-α <L <r + α and the irradiation angle θ may be θmin <θ <θmax.
In this case,? Is the major axis length of the second body, and the irradiation angle? May be within 90 degrees? Max -? Min.
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The predetermined size v may be A * 0.9 <V <A * 1.1 based on the size (A) of the pixel area calculated by considering the error of the cable length r and the error in the image.
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At this time, the predetermined threshold value may be 0 when the darkest pixel value is 0 in the image, and may be 0.5 when the brightest pixel value is 1.
At this time, in the step of selecting the second body among the selected objects in comparison with the motion of the second body, the selected objects are tracked and a velocity vector of the objects is obtained using the movement distance and the time difference between frames of the image The object corresponding to the speed of the second body can be selected.
At this time, in the step of estimating the position of the second body, when the direction angle (?) Of the selected second body, the depth (D) of the first body and the depth (d) The coordinates of the position of the second body may be as follows.
At this time, the target object is at least one of the objects located on the underwater floor, and the size of the first body may be larger than that of the second body.
According to another aspect of the present invention, A second body connected to the first body by a cable and movable to the target body while being connected to the first body by the cable; An imaging sonar installed at one side of the first body to acquire underwater images of the target object and the second body; An image portion for converting pixels in the underwater image acquired through the imaging sonar to pixels having a brightness greater than a predetermined threshold value to white and for converting all pixels darker than a predetermined threshold value to black to binarize the image, And a control unit for selecting the regions as objects and comparing the speed of the second body with the speed of the second body to determine the second body among the selected objects and to estimate the position of the second body .
At this time, a pressure sensor installed at one side of the first body and the second body and measuring the pressure applied to one side of the first body and the second body, . ≪ / RTI >
The gyrosensor may be mounted on the first body and the second body to measure a rotation angle of the first body and the second body to determine a yaw angle of the first body and the second body. have.
The apparatus may further include a tension sensor installed at an end of the cable to measure a tension applied to the cable, and a screw installed in the second body to tighten the cable.
In this case, the first body may be provided with a winch that is installed at one side of the first body so that the cable can be wound or unwound, and the first body can transmit power or control signals to the second body through the cable .
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The position estimation method and system according to an embodiment of the present invention can estimate the three-dimensional position and posture of the underwater robot in real time by allowing the underwater robot to move around the object to be surveyed without accumulating the position error.
In addition, the position estimation method and system according to an embodiment of the present invention allow the underwater robot to stay around an object without departing from a designated route even when a long time object survey is performed.
1 is a flowchart illustrating a method of estimating a position of a submersible robot according to an embodiment of the present invention.
2 is a schematic view showing a state where a second body is attached to a first body used in a method of estimating the position of a submersible robot according to an embodiment of the present invention.
FIG. 3 is a schematic view showing movement of a second body used in a method for estimating the position of a submersible robot according to an embodiment of the present invention toward a target object.
4 is a schematic view showing a first body used in a method of estimating a position of an underwater robot according to an embodiment of the present invention.
5 is a schematic view showing a second body used in a method of estimating the position of an underwater robot according to an embodiment of the present invention.
6 is a schematic view showing an imaging sonar used in a method of estimating the position of an underwater robot according to an embodiment of the present invention.
FIG. 7 is a schematic view showing an image of a target object obtained through an imaging sonar in a state where a second body is attached to a first body used in a method of estimating the position of an underwater robot according to an embodiment of the present invention.
8 is a schematic view illustrating an image of a second body and a target object obtained through an image sonar in a state in which a second body used in a method for estimating a position of a submersible robot according to an embodiment of the present invention is moving toward a target object; to be.
9 is a schematic diagram showing a search area of a method of estimating a position of an underwater robot according to an embodiment of the present invention.
FIG. 10 is a schematic diagram showing a position estimation calculation of a method of estimating a position of an underwater robot according to an embodiment of the present invention.
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.
In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.
Hereinafter, a method for estimating the position of a submersible robot and a system thereof according to an embodiment of the present invention will be described in detail with reference to the drawings.
1 is a flowchart illustrating a method of estimating a position of a submersible robot according to an embodiment of the present invention.
Referring to FIG. 1, a method for estimating the position of an underwater robot according to an embodiment of the present invention includes aligning a first body and a second body (S10), aligning a length of a cable A step S30 of setting a search area to grasp the position of the second body in consideration of the length of the cable, a step S40 of selecting objects larger than the size of the second body in the search area, Comparing the speed of the second body to determine a second body of the selected objects (S50), and estimating a position of the detected second body (S60).
The position estimating method according to an embodiment of the present invention estimates the relative position and posture of the
2 is a schematic view showing a state where a second body is attached to a first body used in a method of estimating the position of a submersible robot according to an embodiment of the present invention. FIG. 3 is a schematic view showing movement of a second body used in a method for estimating the position of a submersible robot according to an embodiment of the present invention toward a target object.
2 and 3, a
2 and 3, in an embodiment of the present invention, the
Meanwhile, in the embodiment of the present invention, the
At this time, the
In addition, the
4 is a schematic view showing a first body used in a method of estimating a position of an underwater robot according to an embodiment of the present invention. 5 is a schematic view showing a second body used in a method of estimating the position of an underwater robot according to an embodiment of the present invention.
4, the
At this time, the
The information on the moving direction and the moving speed of the
Meanwhile, in an embodiment of the present invention, the
In an embodiment of the present invention, the gyro sensor may be installed on one side or inside of the
In an embodiment of the present invention, a DVL (Doppler velocity log) sensor (not shown) is installed at one side or inside of the
Referring to FIG. 4, the
Meanwhile, in an embodiment of the present invention, the
At this time, the
In the embodiment of the present invention, the
In an embodiment of the present invention, the
At this time, the
The first propeller 19 may be installed on one side of the
3, the
In an embodiment of the present invention, the
Referring to FIG. 5, in an embodiment of the present invention, the
At this time, the
The information on the moving direction and the moving speed of the
Meanwhile, in an embodiment of the present invention, the
Also, in an embodiment of the present invention, the gyro sensor may be installed on one side or inside of the
5, the
Meanwhile, in an embodiment of the present invention, the
In one embodiment of the present invention, the
6 is a schematic view showing an imaging sonar used in a method of estimating the position of an underwater robot according to an embodiment of the present invention. FIG. 7 is a schematic view showing an image of a target object obtained through an imaging sonar in a state where a second body is attached to a first body used in a method of estimating the position of an underwater robot according to an embodiment of the present invention. 8 is a schematic view illustrating an image of a second body and a target object obtained through an image sonar in a state in which a second body used in a method for estimating a position of a submersible robot according to an embodiment of the present invention is moving toward a target object; to be.
Referring to FIG. 6, in an embodiment of the present invention, the
Referring to FIG. 8, the
In one embodiment of the present invention, the
In the meantime, in the step S10 of aligning the first body and the second body in the embodiment of the present invention, the first body is moved to the target body (S11), the imaging body A step S12 of measuring the distance from the point where the first body moves to the target object, and a step S13 of matching the yaw angular values of the first body and the second body.
In order to accurately measure the distance between the
Meanwhile, in the step S10 of moving the first body to the target body in the embodiment of the present invention, the first body is moved to the vicinity of the target body by using the navigation sensor installed inside the
2, in the step S12 of measuring the distance from the point where the first body moves through the imaging sonar connected to one side of the first body to the target object, the
Meanwhile, in step S13 of matching the yaw angular values of the first body and the second body, the distance between the
In the step S20 of adjusting the length of the cable so that the second body can approach the target object in the embodiment of the present invention, the
Meanwhile, the step S20 of adjusting the length of the cable so that the second body can approach the target object may further include a step S21 of making the cable between the first body and the second body tight. The cable between the
At this time, step S21 of making the cable between the first body and the second body to be tightened further includes a step (S22) of checking whether the cable is tight through a tension sensor (not shown) provided at an end of the
9 is a schematic diagram showing a search area of a method of estimating a position of an underwater robot according to an embodiment of the present invention. FIG. 10 is a schematic diagram showing a position estimation calculation of a method of estimating a position of an underwater robot according to an embodiment of the present invention.
9 and 10, in the step S30 of setting the search area to determine the position of the second body considering the length of the cable according to the embodiment of the present invention, the
In this case, the distance L in the search area may be a range smaller than the cable length r and larger by?. That is, r-α <L <r + α. In addition, the irradiation angle? In the search area may be? Min <? <? Max.
At this time, the released cable length r can be obtained by measuring the number of revolutions of the winch using an encoder included in the
Further, the
On the other hand, the magnitude of the irradiation angle [theta] max - [theta] min may be 29 degrees, but is not limited thereto and may vary depending on the purpose of the search area and the
In addition, the step S40 of selecting an object larger than the size of the second body in the search area may include a step S41 of binarizing the image in the set search area, And selecting a larger area as an object (S42).
In an embodiment of the present invention, in step S41 of binarizing an image in the set search area, all pixels brighter than a predetermined threshold value are changed to white, and pixels darker than a predetermined threshold value can be changed to black have.
Referring to FIG. 9, the
At this time, the predetermined threshold value for binarization changes according to the environment, and there are various methods for calculating this threshold value. However, if the binarization technique is simplified in the embodiment of the present invention, the darkest pixel value is set to 0 in the image of the
On the other hand, in the step S42 of selecting the regions larger than the predetermined size (v) in the binarized image as the object, the regions above the predetermined size in the region where the
At this time, the size of the cross section of the
In this case, the predetermined size (V) is a size within ± 10% based on the size (A) of the pixel area calculated by considering the error of the cable length (r) and the image, that is, A * 0.9 <V <A * 1.1. ≪ / RTI > At this time, only the region having a predetermined size (V) or more can be selected as a candidate object of the second body.
Meanwhile, in step S50 of grasping the second body among the selected objects in comparison with the velocity of the second body, the velocity vectors of the objects are obtained using the movement distance and the time difference between frames of the image by tracking the selected objects, And grasps the object corresponding to the speed of the
Referring to FIG. 10, in step S60 of estimating the position of the second body detected in the embodiment of the present invention, the direction angle? Of the selected
Here, the coordinates of the x second body , y second body, and z second body are as follows.
Meanwhile, the position estimation method according to an embodiment of the present invention can accurately estimate the relative position of the
In addition, the position estimation method according to an embodiment of the present invention estimates the current position of the
The position estimation method and system according to an embodiment of the present invention can estimate the three-dimensional position and posture of the underwater robot in real time by allowing the underwater robot to move around the object to be surveyed without accumulating the position error.
In addition, the position estimation method and system according to an embodiment of the present invention allow the underwater robot to stay around an object without departing from a designated route even when a long time object survey is performed.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
1: Position estimation system 3: Target object
10: first body 11: first sensor part
13: first control section 15:
15a:
17: image part 19: first propeller
20: Imaging sonar 30: Second body
31: second sensor unit 33: second control unit
35: Second propeller
Claims (20)
Aligning the first body and the second body;
Adjusting a length of the cable so that the second body is close to a target object;
Setting a search area to determine a position of the second body in consideration of the length of the cable;
Changing pixels of the image in the set search area that are lighter than the predetermined threshold value to white, and binarizing all pixels darker than a predetermined threshold value to black;
Selecting regions larger than a predetermined size in the binarized image as objects;
Determining the second body among the selected objects by comparing the velocity of the second body with the velocity of the second body;
Estimating a position of the second body,
Wherein aligning the first body and the second body includes moving the first body to the target object, moving the first body through the imaging sonar coupled to one side of the first body, Measuring a distance to the target object, and aligning headings of the first body and the second body to match a yaw value.
And adjusting the length of the cable so that the second body approaches the target object, the cable is loosened or wound through the winch installed in the first body.
Wherein adjusting the length of the cable so that the second body is close to the target object further comprises: tensioning the cable between the first body and the second body.
Wherein the step of tensioning the cable between the first body and the second body further comprises checking whether the cable is tight through a tension sensor installed on the cable end.
The distance L of the search area of the second body may be determined considering the length r of the cable in the step of setting the search area to grasp the position of the second body in consideration of the length r of the cable, and the irradiation angle? is? min <? <? max.
Wherein? Is a major axis length of the second body, and the irradiation angle? Is within 90 degrees from? Max -? Min.
The predetermined size (v) is A * 0.9 <V <A * 1.1 based on the size (A) of the pixel area calculated by considering the error of the cable length (r) and the error in the image.
Wherein the predetermined threshold value is 0.5 when the darkest pixel value in the image is 0 and the brightest pixel value is 1.
Wherein the step of selecting the second body among the predetermined objects in comparison with the motion of the second body tracks the selected objects to obtain a velocity vector of the objects using the movement distance and a time difference between frames of the image, And selecting the object corresponding to the velocity of the two bodies.
In the step of estimating the position of the second body, when the direction angle (?) Of the selected second body, the depth (D) of the first body, and the depth (d) 2 The coordinates of the position of the body are as follows.
Wherein the target object is at least one of objects located on the underwater floor, and the size of the first body is larger than the size of the second body.
A second body connected to the first body by a cable and movable to the target body while being connected to the first body by the cable;
An imaging sonar installed at one side of the first body to acquire underwater images of the target object and the second body;
An image portion for converting pixels in the underwater image acquired through the imaging sonar to brighten all of the pixels that are lighter than the predetermined threshold value and binarizing all pixels darker than the predetermined threshold value into black,
A controller for selecting a region larger than a predetermined size in the binarized image as an object and comparing the speed with the speed of the second body to grasp the second body among the selected objects and estimating the position of the second body; / RTI >
And a pressure sensor installed at one side of the first body and the second body to measure a depth of the first body and the second body by measuring a pressure applied to one side of the first body and the second body .
And a gyro sensor installed on the first body and the second body to measure a yaw angle of the first body and the second body by measuring a rotation angle of the first body and the second body, .
A tension sensor installed at an end of the cable to measure a tension applied to the cable,
And a propeller installed on the second body to cause the cable to be taut.
And a winch installed at one side of the first body to wind or unwind the cable, wherein the first body includes a position estimation system for supplying power to the second body through the cable or transmitting a control signal, .
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JP2015141164A (en) * | 2014-01-30 | 2015-08-03 | 国立大学法人鳥取大学 | position measuring system |
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JP2015141164A (en) * | 2014-01-30 | 2015-08-03 | 国立大学法人鳥取大学 | position measuring system |
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